6 accepted papers
In-hand manipulation is challenging in robotics due to the intricate contact dynamics and high degrees of control freedom. Precise manipulation with high accuracy often requires tactile perception, which adds further complexity to the system. Despite the challenges in perception and control, the rol…
With the growing interest in vision-based tactile sensors, various types of sensors that utilize digital imaging are being developed. Among them, a group of sensors captures the tactile flow resulted from the contact deformation using the optical flow algorithm from computer vision and achieves full
Tactile sensing is an essential perception for robots to complete dexterous tasks. As a promising tactile sensing technique, vision-based tactile sensors have been developed to improve robot performance in manipulation and grasping. Here we propose a new design of a vision-based tactile sensor, DelT
Perceiving the dynamical environment both visually and tactilely is crucial for the survival of animals, and therefore, is considered of importance in robotics research. Recently, there has been an increasing interest in vision-based tactile sensors due to their high sensing resolution and robustnes…
Tactile sensing on human feet is crucial for motion control, however, has not been explored in robotic counterparts. This work is dedicated to endowing tactile sensing to legged robot’s feet and showing that a single-legged robot can be stabilized with only tactile sensing signals from its foot. We…
Recent studies on vision-based tactile sensing have shown promising results on the perception of contact information, which could improve the performance of dexterous manipulations. However, 3-dimensional contact deformation tracking at a higher resolution is desired and remains a challenge for visi